Enum CuCollisionModelSpec 

pub enum CuCollisionModelSpec<const M: usize> {
    Preset(CuRobotPreset),
    Inline {
        shapes: [CuLinkShape; M],
        params: CuCollisionModelParams,
    },
}

Source of a robot collision model in RON: a preset name or an inline model.

"collision_model": "igus_rebel"
"collision_model": {
    "shapes": [
        {"shape": {"capsule": {"a": [0.0, 0.0, 0.0], "b": [0.0, 0.0, 0.2], "radius": 0.05}}, "frame": 0},
        {"shape": {"sphere": {"center": [0.0, 0.0, 0.02], "radius": 0.03}}, "frame": 1},
    ],
    "safety_margin": 0.005,       // optional, default 0.0
    "skip_adjacent_links": true,  // optional, default true
}

An inline model lists exactly M shapes; omit frame for a base-frame shape. Use CuRobotCollisionModel::new for fewer than M shapes.

Variants

Preset(CuRobotPreset)

A named preset; its shape and joint counts are checked by Self::resolve.

Inline

Explicit shapes and parameters.

Fields

shapes: [CuLinkShape; M]

One shape per model slot.

params: CuCollisionModelParams

Model parameters.

Implementations

impl<const M: usize> CuCollisionModelSpec<M>

pub fn resolve<const N: usize>(&self) -> CuResult<CuRobotCollisionModel<N, M>>

Builds and validates the model for an N-joint chain.

Trait Implementations

impl<const M: usize> Clone for CuCollisionModelSpec<M>

fn clone(&self) -> CuCollisionModelSpec<M>

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<const M: usize> Copy for CuCollisionModelSpec<M>

impl<const M: usize> Debug for CuCollisionModelSpec<M>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<'de, const M: usize> Deserialize<'de> for CuCollisionModelSpec<M>

fn deserialize<D: Deserializer<'de>>(deserializer: D) -> Result<Self, D::Error>

Deserialize this value from the given Serde deserializer.

impl<const M: usize> From<CuRobotPreset> for CuCollisionModelSpec<M>

fn from(preset: CuRobotPreset) -> Self

Converts to this type from the input type.

impl<const M: usize> PartialEq for CuCollisionModelSpec<M>

fn eq(&self, other: &CuCollisionModelSpec<M>) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl<const M: usize> Serialize for CuCollisionModelSpec<M>

fn serialize<S: Serializer>(&self, serializer: S) -> Result<S::Ok, S::Error>

Serialize this value into the given Serde serializer.

impl<const M: usize> StructuralPartialEq for CuCollisionModelSpec<M>